Homework 3: # 2.13, 2.

14
Michael Good
Sept 10, 2004

2.13 A heavy particle is placed at the top of a vertical hoop. Calculate the
reaction of the hoop on the particle by means of the Lagranges undetermined
multipliers and Lagranges equations. Find the height at which the particle falls
off.
Answer:

The Lagrangian is
1
L=T V L= m(r2 + r2 2 ) mgr cos
2
Where r is the distance the particle is away from the center of the hoop. The
particle will eventually fall off but while its on the hoop, r will equal the radius
of the hoop, a. This will be the constraint on the particle. Here when = 0, (at
the top of the hoop) potential energy is mgr, and when = 90o (at half of the
hoop) potential energy is zero. Using Lagranges equations with undetermined
multipliers,
L d L X fk
+ =0
qj dt qj qj
k

with our equation of constraint, f = r = a as long as the particle is touching

the hoop. Solving for the motion:
d L
= mr
dt r
L
= mr2 mg cos
r
fr
=1
r
thus

mr + mr2 mg cos + = 0
solving for the other equation of motion,

1
 d L
= mr2 + 2mrr
dt
L
= mgr sin

f
=0

thus

mr2 2mrr + mgr sin = 0

The equations of motion together are:

mr + mr2 mg cos + = 0

mr2 2mrr + mgr sin = 0

To find the height at which the particle drops off, can be found in terms
of . The force of constraint is and = 0 when the particle is no longer under
the influence of the force of the hoop. So finding in terms of and setting
to zero will give us the magic angle that the particle falls off. With the angle
we can find the height above the ground or above the center of the hoop that
the particle stops maintaining contact with the hoop.
With the constraint, the equations of motion become,

ma2 mg cos + = 0
ma2 + mga sin = 0
Solving for , the ms cancel and 1 a cancels, we are left with
g
sin =
a
solving this and noting that

d = d

by the conservation of dots law Engel has mentioned :), or by

d d d d d d
= = = =
dt dt dt d dt d
Z Z
g
sin d = d
a

g 2
cos = + constant
a 2
The constant is easily found because at the top of the hoop, = 0 and = 0
at t = 0 so,

2
 2g 2g
cos + = 2
a a
Plug this into our first equation of motion to get an equation dependent only
on and
2g 2g
ma[ cos + ] mg cos =
a a

3mg cos + 2mg =

Setting = 0 because this is at the point where the particle feels no force
from the hoop, and 0 equals
2
0 = cos1 ( ) = 48.2o
3
And if our origin is at the center of the hope, then the height that it stops
touching the hoop is just R cos 0 or
2 2
h = R cos(cos1 ) = R
3 3
.
If we say the hoop is a fully circular and somehow fixed with the origin at
the bottom of the hoop, then we have just moved down by R and the new height
is
2 5
H =R+ R= R
3 3
2.14 A uniform hoop of mass m and radius r rolls without slipping on a fixed
cylinder of radius R as shown in figure. The only external force is that of gravity.
If the smaller cylinder starts rolling from rest on top of the bigger cylinder, use
the method of Lagrange multipliers to find the point at which the hoop falls off
the cylinder.
Answer:

Two equations of constraint:

=r+R r( ) = R
My generalized coordinates are , , and . The first equation comes from
the fact that as long as the hoop is touching the cylinder the center of mass of
the hoop is exactly r + R away from the center of the cylinder. Im calling it
f1 . The second one comes from no slipping:

r = s s = (R + r)
r r = R

3
 r( ) = R
Where is the angle makes with the vertical and is the angle r makes
with the vertical. Im calling this equation f2 .

f1 = r R = 0 f2 = R r + r = 0
The Lagrangian is T V where T is the kinetic energy of the hoop about
the cylinder and the kinetic energy of the hoop about its center of mass. The
potential energy is the height above the center of the cylinder. Therefore
m 2
L= ( + 2 2 + r2 2 ) mg cos
2
Solving for the equations of motion:
d L L X fk
= k
dt
k

f1 f2
m m2 + mg cos = 1 + 2

m m2 + mg cos = 1 (1)

d L L X fk
= k
dt
k

d f1 f2
(m2 ) (mg sin ) = 1 + 2
dt

m2 + 2m + mg sin = 1 (0) + 2 (R + r)

m2 + 2m + mg sin = 2 (R + r) (2)

d L L X fk
= k
dt
k

d f1 f2
(mr2 ) 0 = 1 + 2
dt

mr2 = 2 r (3)
I want the angle . This will tell me the point that the hoop drops off the
cylinder. So Im going to apply the constraints to my equations of motion,
attempt to get an equation for , and then set 1 equal to zero because that
will be when the force of the cylinder on the hoop is zero. This will tell me the
value of . Looking for an equation in terms of only and 1 will put me in the
right position.
The constraints tell me:

4
 =r+R = = 0

R+r R+r R+r

= = =
r r r
Solving (3) using the constraints,

mr2 = 2 r
2
= (4)
m(R + r)
Solving (2) using the constraints,

m(R + r) + mg sin = 2
2 mg sin
= (5)
m(R + r)
Setting (4) = (5)

2 = 2 mg sin
mg
2 = sin (6)
2
Plugging (6) into (4) yields a differential equation for
g
= sin
2(R + r)
If I solve this for 2 I can place it in equation of motion (1) and have an
expression in terms of and 1 . This differential equation can be solved by
trying this:

2 = A + B cos
Taking the derivative,

2 = B sin
B
= sin
2
Thus
q
B=
R+r
From initial conditions, = 0, = 0 at t = 0 we have A:
q
A = B A=
R+r

5
 Therefore
q q
2 = cos
R+r R+r
Now we are in a position to plug this into equation of motion (1) and have
the equation in terms of and 1
q q
m(R + r)( cos ) + mg cos = 1
R+r R+r

mg + 2mg cos = 1

mg(2 cos 1) = 1
Setting the force of constraint equal to zero will give us the angle that the
hoop no longer feels a force from the cylinder:

2 cos 0 1 = 0

1
cos 0 = 0 = 60o
2
With our origin at the center of the cylinder, the height that the center of
mass of the hoop falls off is
1
hcm = cos(60o ) =
2
Or if you prefer the height that the hoops surface stops contact with cylin-
der:
1
h= R
2
.